mirror of https://github.com/ArduPilot/ardupilot
188 lines
6.0 KiB
C++
188 lines
6.0 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef __AP_FRSKY_TELEM_H__
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#define __AP_FRSKY_TELEM_H__
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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/* FrSky sensor hub data IDs */
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#define FRSKY_ID_GPS_ALT_BP 0x01
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#define FRSKY_ID_TEMP1 0x02
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#define FRSKY_ID_RPM 0x03
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#define FRSKY_ID_FUEL 0x04
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#define FRSKY_ID_TEMP2 0x05
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#define FRSKY_ID_VOLTS 0x06
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#define FRSKY_ID_GPS_ALT_AP 0x09
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#define FRSKY_ID_BARO_ALT_BP 0x10
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#define FRSKY_ID_GPS_SPEED_BP 0x11
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#define FRSKY_ID_GPS_LONG_BP 0x12
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#define FRSKY_ID_GPS_LAT_BP 0x13
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#define FRSKY_ID_GPS_COURS_BP 0x14
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#define FRSKY_ID_GPS_DAY_MONTH 0x15
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#define FRSKY_ID_GPS_YEAR 0x16
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#define FRSKY_ID_GPS_HOUR_MIN 0x17
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#define FRSKY_ID_GPS_SEC 0x18
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#define FRSKY_ID_GPS_SPEED_AP 0x19
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#define FRSKY_ID_GPS_LONG_AP 0x1A
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#define FRSKY_ID_GPS_LAT_AP 0x1B
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#define FRSKY_ID_GPS_COURS_AP 0x1C
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#define FRSKY_ID_BARO_ALT_AP 0x21
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#define FRSKY_ID_GPS_LONG_EW 0x22
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#define FRSKY_ID_GPS_LAT_NS 0x23
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#define FRSKY_ID_ACCEL_X 0x24
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#define FRSKY_ID_ACCEL_Y 0x25
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#define FRSKY_ID_ACCEL_Z 0x26
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#define FRSKY_ID_CURRENT 0x28
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#define FRSKY_ID_VARIO 0x30
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#define FRSKY_ID_VFAS 0x39
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#define FRSKY_ID_VOLTS_BP 0x3A
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#define FRSKY_ID_VOLTS_AP 0x3B
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// Default sensor data IDs (Physical IDs + CRC)
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#define DATA_ID_VARIO 0x00 // 0
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#define DATA_ID_FLVSS 0xA1 // 1
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#define DATA_ID_FAS 0x22 // 2
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#define DATA_ID_GPS 0x83 // 3
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#define DATA_ID_RPM 0xE4 // 4
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#define DATA_ID_SP2UH 0x45 // 5
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#define DATA_ID_SP2UR 0xC6 // 6
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#define SPORT_START_FRAME 0x7E
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class AP_Frsky_Telem
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{
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public:
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//constructor
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AP_Frsky_Telem(AP_AHRS &ahrs, AP_BattMonitor &battery);
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// supported protocols
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enum FrSkyProtocol {
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FrSkyUnknown = 0,
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FrSkyDPORT = 2,
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FrSkySPORT = 3
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};
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// init - perform require initialisation including detecting which protocol to use
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void init(const AP_SerialManager& serial_manager);
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// send_frames - sends updates down telemetry link for both DPORT and SPORT protocols
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// should be called by main program at 50hz to allow poll for serial bytes
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// coming from the receiver for the SPort protocol
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void send_frames(uint8_t control_mode);
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private:
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// init_uart_for_sport - initialise uart for use by sport
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void init_uart_for_sport();
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// send_hub_frame - main transmission function when protocol is FrSkyDPORT
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void send_hub_frame();
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// sport_tick - main call to send updates to transmitter when protocol is FrSkySPORT
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// called by scheduler at a high rate
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void sport_tick();
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// methods related to the nuts-and-bolts of sending data
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void calc_crc(uint8_t byte);
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void send_crc();
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void frsky_send_byte(uint8_t value);
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void frsky_send_hub_startstop();
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void frsky_send_sport_prim();
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void frsky_send_data(uint8_t id, int16_t data);
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// methods to convert flight controller data to frsky telemetry format
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void calc_baro_alt();
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float frsky_format_gps(float dec);
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void calc_gps_position();
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void calc_battery();
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void calc_gps_sats();
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// methods to send individual pieces of data down telemetry link
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void send_gps_sats(void);
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void send_mode(void);
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void send_baro_alt_m(void);
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void send_baro_alt_cm(void);
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void send_batt_remain(void);
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void send_batt_volts(void);
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void send_current(void);
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void send_prearm_error(void);
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void send_heading(void);
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void send_gps_lat_dd(void);
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void send_gps_lat_mm(void);
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void send_gps_lat_ns(void);
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void send_gps_lon_dd(void);
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void send_gps_lon_mm(void);
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void send_gps_lon_ew(void);
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void send_gps_speed_meter(void);
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void send_gps_speed_cm(void);
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void send_gps_alt_meter(void);
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void send_gps_alt_cm(void);
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AP_AHRS &_ahrs; // reference to attitude estimate
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AP_BattMonitor &_battery; // reference to battery monitor object
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AP_HAL::UARTDriver *_port; // UART used to send data to receiver
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bool _initialised_uart; // true when we have detected the protocol and UART has been initialised
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enum FrSkyProtocol _protocol; // protocol used - detected using SerialManager's SERIALX_PROTOCOL parameter
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uint16_t _crc;
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uint32_t _last_frame1_ms;
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uint32_t _last_frame2_ms;
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bool _battery_data_ready;
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uint16_t _batt_remaining;
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uint16_t _batt_volts;
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uint16_t _batt_amps;
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bool _sats_data_ready;
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uint16_t gps_sats;
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bool _gps_data_ready;
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bool _pos_gps_ok;
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uint16_t _course_in_degrees;
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char _lat_ns, _lon_ew;
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uint16_t _latdddmm;
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uint16_t _latmmmm;
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uint16_t _londddmm;
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uint16_t _lonmmmm;
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uint16_t _alt_gps_meters;
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uint16_t _alt_gps_cm;
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int16_t _speed_in_meter;
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uint16_t _speed_in_centimeter;
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bool _baro_data_ready;
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int16_t _baro_alt_meters;
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uint16_t _baro_alt_cm;
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bool _mode_data_ready;
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uint8_t _mode;
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uint8_t _fas_call;
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uint8_t _gps_call;
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uint8_t _vario_call;
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uint8_t _various_call;
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uint8_t _sport_status;
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};
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#endif
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